DE112019004975T5 - METHOD, SYSTEM AND DEVICE FOR DETERMINING A SUPPORT STRUCTURE DEPTH - Google Patents
METHOD, SYSTEM AND DEVICE FOR DETERMINING A SUPPORT STRUCTURE DEPTH Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/0008—Industrial image inspection checking presence/absence
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20076—Probabilistic image processing
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Abstract
Ein Verfahren zum Bestimmen einer Trägerstrukturtiefe einer Trägerstruktur mit einer Vorderseite und einer Rückseite, die durch die Trägerstrukturtiefe getrennt sind, umfasst: das Erhalten einer Punktwolke der Trägerstruktur und einer Maske, die für eine Vielzahl von Abschnitten eines Bildes der Trägerstruktur, das von einer Erfassungsstellung aus erfasst wurde, jeweilige Vertrauensniveaus anzeigt, dass die Abschnitte die Rückseite der Trägerstruktur darstellen; das Auswählen eines Anfangssatzes von Punkten aus der Punktwolke, die sich innerhalb eines Sichtfeldes befinden, das von der Erfassungsstellung ausgeht; das Auswählen einer nicht verdeckten Teilmenge von Tiefenmessungen aus dem Anfangssatz von Punkten, wobei die Tiefenmessungen in der nicht verdeckten Teilmenge mit jeweiligen Bildkoordinaten korrespondieren; das Abrufen eines Vertrauensniveaus für jede der Tiefenmessungen in der nicht verdeckten Teilmenge aus der Maske; und das Bestimmen der Trägerstrukturtiefe basierend auf den Tiefenmessungen in der nicht verdeckten Teilmenge und den abgerufenen Vertrauensniveaus.A method for determining a support structure depth of a support structure having a front side and a rear side separated by the support structure depth comprises: obtaining a point cloud of the support structure and a mask that covers a plurality of portions of an image of the support structure taken from a detection position has been detected, respective confidence levels indicate that the sections represent the rear side of the support structure; selecting an initial set of points from the point cloud that are within a field of view emanating from the detection position; selecting an unobscured subset of depth measurements from the initial set of points, the depth measurements in the unobscured subset corresponding to respective image coordinates; retrieving a confidence level for each of the depth measurements in the unobscured subset from the mask; and determining the support structure depth based on the depth measurements in the unobscured subset and the confidence levels retrieved.
Description
HINTERGRUNDBACKGROUND
Umgebungen, in denen Bestände von Objekten verwaltet werden, wie z. B. Produkte zum Kauf in einer Einzelhandelsumgebung, können komplex und flüchtig sein. Zum Beispiel kann eine gegebene Umgebung eine Vielzahl von Objekten mit unterschiedlichen Merkmalen (Größe, Form, Preis und dergleichen) enthalten. Außerdem kann sich die Platzierung und Menge der Objekte in der Umgebung häufig ändern. Darüber hinaus können die Bildgebungsbedingungen, wie z. B. die Beleuchtung, sowohl im Laufe der Zeit als auch an verschiedenen Orten in der Umgebung variabel sein. Diese Faktoren können die Genauigkeit verringern, mit der Informationen über die Objekte in der Umgebung erfasst werden können.Environments in which inventory of objects is managed, such as B. Products for purchase in a retail setting can be complex and volatile. For example, a given environment can contain a multitude of objects with different characteristics (size, shape, price and the like). In addition, the placement and amount of objects in the environment can change frequently. In addition, the imaging conditions such as B. the lighting, both over time and in different places in the area can be variable. These factors can reduce the accuracy with which information about the objects in the environment can be gathered.
FigurenlisteFigure list
Die beigefügten Figuren, in denen gleiche Bezugszeichen identische oder funktional ähnliche Elemente in den einzelnen Ansichten bezeichnen, sind zusammen mit der nachfolgenden detaillierten Beschreibung in die Offenbarung inkorporiert und bilden einen Bestandteil der Offenbarung und dienen dazu, hierin beschriebene Ausführungsformen von Konzepten, die die beanspruchte Erfindung umfassen, weiter zu veranschaulichen und verschiedene Prinzipien und Vorteile dieser Ausführungsformen zu erklären.
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1 ist eine schematische Darstellung eines mobilen Automatisierungssystems. -
2A zeigt eine mobile Automatisierungsvorrichtung im System von1 . -
2B ist ein Blockdiagramm bestimmter interner Hardwarekomponenten der mobilen Automatisierungsvorrichtung im System von1 . -
3 ist ein Flussdiagramm eines Verfahrens zum Bestimmen einer Trägerstrukturtiefe. -
4A ist ein Diagramm einer Punktwolke und einer Regalebene, die inBlock 305 des Verfahrens von3 erhalten wird. -
4B ist ein Diagramm von Beispielbildern, die von der Vorrichtung des Systems von1 erfasst und bei Block310 des Verfahrens von3 erhalten werden. -
5A ist ein Diagramm, das eines der Bilder von4B detaillierter darstellt. -
5B ist ein Diagramm, das eine Beispielrückseite einer Regalmaske zeigt, die mit dem Bild von5A korrespondiert. -
6A ist ein Flussdiagramm eines Verfahrens zur Durchführung von Block315 des Verfahrens von3 . -
6B ist ein Diagramm, das die Durchführung des Verfahrens von6A in Verbindung mit der Punktwolke von4A zeigt. -
7A ist ein Flussdiagramm eines Verfahrens zur Durchführung von Block320 des Verfahrens von3 . -
7B ist ein Diagramm, das die Durchführung des Verfahrens von7A in Verbindung mit dem Bild von5A zeigt. -
8A und8B sind Diagramme, die eine beispielhafte Durchführung von Block325 des Verfahrens von3 zeigen. -
8C ist ein Diagramm, das ein weiteres Ausführungsbeispiel von Block325 des Verfahrens von3 zeigt. -
9 ist ein Diagramm, das eine Trägerstrukturtiefe zeigt, die durch die Durchführung des Verfahrens von3 bestimmt wird.
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1 is a schematic representation of a mobile automation system. -
2A FIG. 10 shows a mobile automation device in the system of FIG1 . -
2 B FIG. 13 is a block diagram of certain internal hardware components of the mobile automation device in the system of FIG1 . -
3 Figure 3 is a flow diagram of a method for determining a support structure depth. -
4A Figure 4 is a diagram of a point cloud and shelf level shown inblock 305 of the procedure of3 is obtained. -
4B FIG. 13 is a diagram of sample images generated by the apparatus of the system of FIG1 captured and atblock 310 of the procedure of3 can be obtained. -
5A is a diagram showing one of the images of4B represents in more detail. -
5B FIG. 13 is a diagram showing an example back of a shelf mask associated with the image of FIG5A corresponds. -
6A Figure 3 is a flow diagram of a method for performingBlock 315 of the procedure of3 . -
6B Figure 13 is a diagram illustrating the implementation of the method of6A in connection with the point cloud of4A shows. -
7A Figure 3 is a flow diagram of a method for performingBlock 320 of the procedure of3 . -
7B Figure 13 is a diagram illustrating the implementation of the method of7A in conjunction with the image of5A shows. -
8A and8B are diagrams showing an exemplary implementation ofBlock 325 of the procedure of3 demonstrate. -
8C Figure 13 is a diagram showing another embodiment ofBlock 325 of the procedure of3 shows. -
9 FIG. 13 is a diagram showing a beam structure depth obtained by performing the method of FIG3 is determined.
Fachleute werden erkennen, dass Elemente in den Figuren der Einfachheit und Klarheit halber dargestellt sind und nicht notwendigerweise maßstabsgetreu gezeichnet wurden. Zum Beispiel können die Dimensionen einiger der Elemente in den Figuren relativ zu anderen Elementen übertrieben sein, um das Verständnis von Ausführungsformen der vorliegenden Erfindung zu verbessern.Those skilled in the art will recognize that elements in the figures are shown for simplicity and clarity and are not necessarily drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements in order to improve understanding of embodiments of the present invention.
Die Vorrichtungs- und Verfahrenskomponenten wurden, wo es angemessen ist, durch herkömmliche Symbole in den Zeichnungen dargestellt, die nur jene spezifischen Details zeigen, die zum Verständnis der Ausführungsformen der vorliegenden Erfindung relevant sind, um somit die Offenbarung nicht mit Einzelheiten zu verdecken, die für die Fachleute auf dem Gebiet, die auf die vorliegende Beschreibung zurückgreifen, ohne weiteres ersichtlich sind.The apparatus and method components have, where appropriate, been represented in the drawings by conventional symbols showing only those specific details relevant to an understanding of embodiments of the present invention, so as not to obscure the disclosure with details necessary to those skilled in the art having recourse to the present description will be readily apparent.
DETAILLIERTE BESCHREIBUNGDETAILED DESCRIPTION
Die hierin offenbarten Beispiele beziehen sich auf ein Verfahren zum Bestimmen einer Trägerstrukturtiefe einer Trägerstruktur mit einer Vorderseite und einer Rückseite, die durch die Trägerstrukturtiefe getrennt sind, wobei das Verfahren umfasst: Erhalten (i) einer Punktwolke der Trägerstruktur und (ii) einer Maske, die für eine Vielzahl von Abschnitten eines Bildes der Trägerstruktur, das von einer Erfassungsstellung aus erfasst wurde, jeweilige Vertrauensniveaus anzeigt, dass die Abschnitte die Rückseite der Trägerstruktur darstellen; Auswählen eines Anfangssatzes von Punkten aus der Punktwolke, die sich innerhalb eines Sichtfeldes befinden, das von der Erfassungsstellung ausgeht; Auswählen einer nicht verdeckten Teilmenge von Tiefenmessungen aus dem Anfangssatz von Punkten, wobei die Tiefenmessungen in der nicht verdeckten Teilmenge mit jeweiligen Bildkoordinaten korrespondiert; Abrufen eines Vertrauensniveaus für jede der Tiefenmessungen in der nicht verdeckten Teilmenge aus der Maske; und Bestimmen der Trägerstrukturtiefe basierend auf den Tiefenmessungen in der nicht verdeckten Teilmenge und den abgerufenen Vertrauensniveaus.The examples disclosed herein relate to a method for determining a support structure depth of a support structure having a front side and a rear side which are separated by the support structure depth, the method comprising: obtaining (i) a point cloud of the support structure and (ii) a mask which for a plurality of sections of an image of the support structure that was captured from a detection position, indicates respective confidence levels that the sections represent the rear side of the support structure; Selecting an initial set of points from the point cloud that are within a field of view emanating from the detection position; Selecting an unobscured subset of depth measurements from the initial set of points, the depth measurements in the unobscured subset corresponding to respective image coordinates; Retrieving from the mask a confidence level for each of the depth measurements in the unobscured subset; and determining the support structure depth based on the depth measurements in the unobscured subset and the confidence levels retrieved.
Weitere hierin offenbarte Beispiele sind auf eine Computervorrichtung zum Bestimmen einer Trägerstrukturtiefe einer Trägerstruktur mit einer Vorderseite und einer Rückseite, die durch die Trägerstrukturtiefe getrennt sind, gerichtet, wobei die Computervorrichtung umfasst: einen Speicher, der (i) eine Punktwolke der Trägerstruktur und (ii) eine Maske speichert, die für eine Vielzahl von Abschnitten eines Bildes der Trägerstruktur, das aus einer Erfassungsstellung erfasst wurde, jeweilige Vertrauensniveaus anzeigt, dass die Abschnitte die Rückseite der Trägerstruktur darstellen; eine Bildgebungssteuerung, die mit dem Speicher verbunden ist und konfiguriert ist, um: aus der Punktwolke einen Anfangssatz von Punkten auszuwählen, die sich innerhalb eines Sichtfeldes befinden, das von der Erfassungsstellung ausgeht; aus dem Anfangssatz von Punkten eine nicht verdeckte Teilmenge von Tiefenmessungen auszuwählen, wobei die Tiefenmessungen in der nicht verdeckten Teilmenge mit jeweiligen Bildkoordinaten korrespondiert; aus der Maske ein Vertrauensniveau für jede der Tiefenmessungen in der nicht verdeckten Teilmenge abzurufen; und basierend auf den Tiefenmessungen in der nicht verdeckten Teilmenge und den abgerufenen Vertrauensniveaus die Trägerstrukturtiefe zu bestimmen.Further examples disclosed herein are directed to a computing device for determining a support structure depth of a support structure having a front and a rear side separated by the support structure depth, the computing device comprising: a memory containing (i) a point cloud of the support structure and (ii) stores a mask which, for a plurality of sections of an image of the support structure captured from a detection position, indicates respective confidence levels that the sections represent the rear side of the support structure; an imaging controller coupled to the memory and configured to: select from the point cloud an initial set of points located within a field of view emanating from the acquisition position; select a non-hidden subset of depth measurements from the initial set of points, the depth measurements in the non-hidden subset corresponding to respective image coordinates; retrieve from the mask a confidence level for each of the depth measurements in the unobscured subset; and based on the depth measurements in the uncovered subset and the retrieved confidence levels, determine the support structure depth.
Weitere hier offenbarte Beispiele sind auf ein computerlesbares Medium gerichtet, das computerlesbare Befehle speichert, die von einem Prozessor eines Servers ausgeführt werden können, wobei die Ausführung der computerlesbaren Befehle den Server veranlasst zum: Erhalten (i) einer Punktwolke der Trägerstruktur und (ii) einer Maske, die für eine Vielzahl von Abschnitten eines Bildes der Trägerstruktur, das von einer Erfassungsstellung aus erfasst wurde, jeweilige Vertrauensniveaus anzeigt, dass die Abschnitte die Rückseite der Trägerstruktur darstellen; Auswählen eines Anfangssatzes von Punkten aus der Punktwolke, die sich innerhalb eines Sichtfeldes befinden, das von der Erfassungsstellung ausgeht; Auswählen einer nicht verdeckten Teilmenge von Tiefenmessungen aus dem Anfangssatz von Punkten, wobei die Tiefenmessungen in der nicht verdeckten Teilmenge mit jeweiligen Bildkoordinaten korrespondieren; Abrufen eines Vertrauensniveaus für jede der Tiefenmessungen in der nicht verdeckten Teilmenge aus der Maske; und Bestimmen der Trägerstrukturtiefe basierend auf den Tiefenmessungen in der nicht verdeckten Teilmenge und den abgerufenen Vertrauensniveaus.Further examples disclosed herein are directed to a computer-readable medium that stores computer-readable instructions that can be executed by a processor of a server, the execution of the computer-readable instructions causing the server to: obtain (i) a point cloud of the support structure and (ii) a Mask which, for a plurality of sections of an image of the support structure that was captured from a detection position, indicates respective confidence levels that the sections represent the rear side of the support structure; Selecting an initial set of points from the point cloud that are within a field of view emanating from the detection position; Selecting an unobscured subset of depth measurements from the initial set of points, the depth measurements in the unobscured subset corresponding to respective image coordinates; Retrieving from the mask a confidence level for each of the depth measurements in the unobscured subset; and determining the support structure depth based on the depth measurements in the unobscured subset and the confidence levels retrieved.
Die Client-Computervorrichtung
Das System
Die Regalmodule
Die Vorrichtung
Die Vorrichtung
Der Server
Der Prozessor
Der Server
Der Speicher
Der Prozessor
In den
Im vorliegenden Beispiel trägt der Mast
Die mobile Automatisierungsvorrichtung
Der Prozessor
Der Speicher
Wie in der nachfolgenden Diskussion deutlich wird, können in anderen Beispielen einige oder alle der vom Server
Die Funktionalität der Anwendung
In Block
Die in Block
Bezugnehmend auf
Zurück zu
Zurück zu
In
Über das in
Nachdem die Punktwolke, die Ebenendefinition, das/die Bild(er) und die Maske(n) in den Blöcken
Zurück zu
Der Server
In
Wie Fachleute verstehen, kann der k-d-Baum durch Bestimmung des Medians einer der beiden oben genannten Dimensionen (z. B. der X-Dimension) aufgebaut werden. Alle Punkte, deren X-Koordinate unter dem Median liegt, werden einem ersten Zweig des Baumes zugeordnet, während die übrigen Punkte einem zweiten Zweig zugeordnet werden. Für jeden Zweig wird der Median der anderen Koordinate (im vorliegenden Beispiel Z) bestimmt und die dem Zweig zugeordneten Punkte werden erneut unterteilt, je nachdem, ob ihre Z-Koordinaten über oder unter dem Z-Median liegen. Dieser Vorgang wird wiederholt, wobei die Punkte zwischen den Zweigpaaren auf der Basis von abwechselnden Dimensionsmedianen weiter unterteilt werden (d. h. eine Unterteilung auf Basis der X-Dimension, gefolgt von einer Unterteilung auf Basis der Z-Dimension, gefolgt von einer weiteren Unterteilung auf Basis der X-Dimension usw.), bis jeder Knoten des Baums einen einzelnen Punkt enthält.As those skilled in the art will understand, the k-d-tree can be constructed by determining the median of one of the two dimensions mentioned above (e.g. the X dimension). All points whose X coordinate is below the median are assigned to a first branch of the tree, while the remaining points are assigned to a second branch. The median of the other coordinate (in the present example Z) is determined for each branch and the points assigned to the branch are subdivided again, depending on whether their Z coordinates are above or below the Z median. This process is repeated with the points between the pairs of branches being further subdivided based on alternate dimension medians (ie, a subdivision based on the X dimension, followed by a subdivision based on the Z dimension, followed by a further subdivision based on the X dimension, and so on) until each node of the tree contains a single point.
In Block
In Block
In Block
Zurück zu
Im Allgemeinen geht die Auswahl in Block
In Block
In Block
Wenn alle Punkte aus dem Anfangssatz verarbeitet wurden und die Teilmenge der nicht verdeckten Tiefenmessungen ausgewählt wurde, kehrt der Server
Ein erstes Beispiel für einen Filtervorgang, der in Block
Andere Beispiele für die in Block
Zurück zu
In Block
In der vorstehenden Beschreibung wurden spezifische Ausführungsformen beschrieben. Ein Durchschnittsfachmann erkennt jedoch, dass verschiedene Modifikationen und Änderungen vorgenommen werden können, ohne den Schutzumfang der Erfindung, wie sie in den untenstehenden Ansprüchen definiert ist, abzuweichen. Dementsprechend sind die Beschreibung und die Figuren vielmehr in einem illustrativen als in einem einschränkenden Sinne zu betrachten, und alle derartigen Modifikationen sollen im Umfang der vorliegenden Lehren eingeschlossen sein.In the above description, specific embodiments have been described. However, one of ordinary skill in the art will recognize that various modifications and changes can be made without departing from the scope of the invention as defined in the claims below. Accordingly, the specification and figures are to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within the scope of the present teachings.
Die Nutzen, Vorteile, Lösungen für Probleme und alle Elemente, die zum Auftreten oder einer Verstärkung eines Nutzens, eines Vorteils, oder einer Lösung führen können, sind nicht als kritische, erforderliche oder wesentliche Merkmale oder Elemente in einigen oder sämtlichen Ansprüchen zu verstehen. Die Erfindung ist lediglich durch die angehängten Ansprüche definiert, einschließlich jeglicher Änderungen, die während der Anhängigkeit dieser Anmeldung vorgenommen wurden und aller Äquivalente der erteilten Ansprüche.The benefits, advantages, solutions to problems and all elements that may lead to the occurrence or amplification of a benefit, an advantage or a solution are not to be understood as critical, required or essential features or elements in any or all of the claims. The invention is defined only by the appended claims, including any changes made during the pendency of this application and all equivalents of the granted claims.
Darüber hinaus können in diesem Dokument relationale Begriffe wie erster und zweiter, oberer und unterer und dergleichen lediglich verwendet sein, um eine Entität oder Aktion von einer anderen Entität oder Aktion zu unterscheiden, ohne notwendigerweise eine tatsächliche derartige Beziehung oder Reihenfolge zwischen solchen Entitäten oder Aktionen zu erfordern oder zu implizieren. Die Ausdrücke „umfasst“, „umfassend“, „hat”, „haben“, „aufweist“, „aufweisend“, „enthält“, „enthaltend“ oder jede andere Variation davon sollen eine nicht-ausschließliche Einbeziehung abdecken, derart, dass ein Prozess, Verfahren, Produkt oder Vorrichtung, das eine Liste von Elementen umfasst, hat, aufweist, enthält, nicht nur diese Elemente aufweist, sondern auch andere Elemente aufweisen kann, die nicht ausdrücklich aufgelistet sind oder einem solchen Prozess, Verfahren, Produkt oder Vorrichtung inhärent sind. Ein Element, dem „umfasst ... ein“, „hat ... ein”, „aufweist ... ein“ oder „enthält ...ein“ vorausgeht, schließt ohne weitere Einschränkungen die Existenz zusätzlicher identischer Elemente in dem Prozess, dem Verfahren, dem Produkt oder der Vorrichtung, die das Element umfasst, hat, aufweist oder enthält, nicht aus. Die Begriffe „ein“ und „eine“ sind als eine oder mehrere definiert, sofern es hierin nicht ausdrücklich anders angegeben wird. Die Begriffe „im Wesentlichen“, „im Allgemeinen“, „ungefähr“, „etwa“ oder jede andere Version davon sind so definiert, dass sie von einem Fachmann auf diesem Gebiet nahekommend verstanden werden, und in einer nicht-einschränkenden Ausführungsform ist der Ausdruck definiert als innerhalb von 10%, in einer weiteren Ausführungsform als innerhalb von 5%, in einer weiteren Ausführungsform als innerhalb von 1% und in einer weiteren Ausführungsform als innerhalb von 0,5%. Der Ausdruck „gekoppelt“, wie er hierin verwendet wird, ist als verbunden definiert, jedoch nicht notwendigerweise direkt und nicht notwendigerweise mechanisch. Eine Vorrichtung oder eine Struktur, die auf eine bestimmte Art „ausgeführt“ ist, ist zumindest auch so ausgeführt, kann aber auch auf Arten ausgeführt sein, die nicht aufgeführt sind.Furthermore, relational terms such as first and second, upper and lower, and the like, may be used in this document only to distinguish one entity or action from another entity or action, without necessarily implying any actual such relationship or order between such entities or actions require or imply. The terms “comprises”, “comprising”, “has”, “having”, “having”, “having”, “containing”, “containing” or any other variation thereof are intended to cover non-exclusive inclusion such that a Process, method, product or device that comprises, has, has, contains, not only has these elements, but may also have other elements that are not expressly listed or are inherent in such a process, method, product or device are. An element preceded by "comprises ... a", "has ... a", "has ... a" or "contains ... a" excludes, without further restrictions, the existence of additional identical elements in the process, does not affect the method, product, or device comprising, having, or containing the element. The terms “a” and “an” are defined as one or more unless expressly stated otherwise herein. The terms “substantially,” “generally,” “approximately,” “about,” or any other version thereof, are defined to be readily understood by one of ordinary skill in the art, and in one non-limiting embodiment, the term is defined as within 10%, in a further embodiment as within 5%, in a further embodiment as within 1% and in a further embodiment as within 0.5%. As used herein, the term “coupled” is defined as connected, but not necessarily directly and not necessarily mechanically. A device or a structure that is “designed” in a certain way is at least also designed that way, but can also be designed in ways that are not listed.
Es versteht sich, dass einige Ausführungsformen von einem oder mehreren generischen oder spezialisierten Prozessoren (oder „Verarbeitungsgeräten“) wie Mikroprozessoren, digitale Signalprozessoren, kundenspezifische Prozessoren und Field-Programmable-Gate-Arrays (FPGAs) und einmalig gespeicherten Programmanweisungen (einschließlich sowohl Software als auch Firmware) umfasst sein können, die den einen oder die mehreren Prozessoren steuern, um in Verbindung mit bestimmten Nicht-Prozessorschaltungen einige, die meisten oder alle der hierin beschriebenen Funktionen des Verfahrens und/oder der Vorrichtung zu implementieren. Alternativ können einige oder alle Funktionen durch eine Zustandsmaschine implementiert sein, die keine gespeicherten Programmanweisungen aufweist, oder in einer oder mehreren anwendungsspezifischen integrierten Schaltungen (ASICs), in denen jede Funktion oder einige Kombinationen von bestimmten Funktionen als benutzerdefinierte Logik implementiert sind. Natürlich kann eine Kombination der beiden Ansätze verwendet werden.It will be understood that some embodiments may include one or more generic or specialized processors (or "processing devices") such as microprocessors, digital signal processors, custom processors, and field programmable gate arrays (FPGAs) and one-time stored program instructions (including both software and Firmware) that control the one or more processors to implement in conjunction with certain non-processor circuitry some, most, or all of the functions of the method and / or apparatus described herein. Alternatively, some or all of the functions may be implemented by a state machine that does not have stored program instructions, or in one or more application specific integrated circuits (ASICs) in which each function or some combination of certain functions is implemented as user-defined logic. Of course, a combination of the two approaches can be used.
Darüber hinaus kann eine Ausführungsform als ein computerlesbares Speichermedium implementiert sein, auf dem computerlesbarer Code gespeichert ist, um einen Computer (der zum Beispiel einen Prozessor umfasst) zu programmieren, um ein Verfahren auszuführen, wie es hierin beschrieben und beansprucht ist. Beispiele solcher computerlesbaren Speichermedien weisen eine Festplatte, eine CD-ROM, eine optische Speichervorrichtung, eine magnetische Speichervorrichtung, einen ROM (Nur-Lese-Speicher), einen PROM (programmierbarer Nur-Lese-Speicher), einen EPROM (löschbarer programmierbarer Nur-Lese-Speicher), einen EEPROM (elektrisch löschbarer programmierbarer Nur-Lese-Speicher) und einen Flash-Speicher auf, sind aber nicht hierauf beschränkt auf. Ferner wird davon ausgegangen, dass ein Durchschnittsfachmann, ungeachtet möglicher signifikanter Anstrengungen und vieler Designwahlen, die zum Beispiel durch verfügbare Zeit, aktuelle Technologie und wirtschaftliche Überlegungen motiviert sind, ohne Weiteres in der Lage ist, solche Softwareanweisungen und -programme und ICs mit minimalem Experimentieren zu generieren, wenn er durch die hierin offenbarten Konzepte und Prinzipien angeleitet wird.Additionally, an embodiment may be implemented as a computer readable storage medium having stored thereon computer readable code for programming a computer (e.g., comprising a processor) to perform a method as described and claimed herein. Examples of such computer readable storage media include a hard disk, CD-ROM, optical storage device, magnetic storage device, ROM (read only memory), PROM (programmable read only memory), EPROM (erasable programmable read only Memory), an EEPROM (electrically erasable programmable read-only memory) and a flash memory, but are not limited to. Further, it is believed that one of ordinary skill in the art, regardless of the significant effort that may be made and many design choices motivated by, for example, available time, current technology, and economic considerations, will readily be able to create such software instructions and programs and ICs with minimal experimentation when guided by the concepts and principles disclosed herein.
Die Zusammenfassung der Offenbarung wird bereitgestellt, um es dem Leser zu ermöglichen, schnell das Wesen der technischen Offenbarung zu ermitteln. Sie wird mit dem Verständnis bereitgestellt, dass sie nicht zur Auslegung oder Einschränkung des Umfangs oder der Bedeutung der Ansprüche verwendet wird. Ferner kann der vorangehenden detaillierten Beschreibung entnommen werden, dass verschiedene Merkmale in verschiedenen Ausführungsformen zum Zwecke der Verschlankung der Offenbarung zusammengefasst sind. Diese Art der Offenbarung ist nicht so auszulegen, dass sie die Absicht widerspiegelt, dass die beanspruchten Ausführungsformen mehr Merkmale erfordern, als ausdrücklich in jedem Anspruch angegeben sind. Vielmehr ist es so, wie die folgenden Ansprüche zeigen, dass der erfinderische Gegenstand in weniger als allen Merkmalen einer einzigen offenbarten Ausführungsform liegt. Somit werden die folgenden Ansprüche hiermit in die detaillierte Beschreibung inkorporiert, wobei jeder Anspruch für sich als ein separat beanspruchter Gegenstand steht.The abstract of the disclosure is provided to enable the reader to quickly ascertain the nature of the technical disclosure. It is provided with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. Furthermore, it can be inferred from the preceding detailed description that various features are combined in various embodiments for the purpose of streamlining the disclosure. This type of disclosure is not to be construed as reflecting the intent that the claimed embodiments require more features than are expressly stated in each claim. Rather, as the following claims demonstrate, inventive subject matter resides in less than all features of a single disclosed embodiment. Thus, the following claims are hereby incorporated into the Detailed Description, with each claim standing on its own as a separately claimed subject matter.
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